Chapter 2. Prehension

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1 st Carpornetacarpal Appendix A - Human Upper Limb Anatomy 353 lntermetacarpal Metacarpals Multangulum minor (Trapezoid) T Carpals Ulna CM) joints (irregular) 5th Carpometacarpal (modified saddle) interphalangeal (DIP) joints (hinge) (PIP) joints (hinge) Distal radioulnar joint (pivot) Figure A.3 The bones and joints of the hand and wrist. The palm contains five metacarpals bones, while each finger has three phalanges, with the thumb only having two. The wrist consists of eight small bones. The joints between the bones allow movement, according to the shape of the articulating surfaces, e.g., heads of the bones. The types of joints and motions are described in Table A.1.
354 A pp e n dices Table A.l Degrees of freedom (df) of the upper limb Bones Joints (type) df Motions Pectoral Girdle-Shoulder Clavicle sternoclavicular 3 protraction & retraction (plane, synovial) elevation & depression upward & downward rotation scapula acromioclavicular 3 (M mobile) (plane, synovial) coracoclavicular (ligament, fibrous) scapulothoracic (functional, fibrous, not a "true" joint) Shoulder- Arm humerus glenohumeral (ball and socket, s ynovial) Elbow-Forearm 3 NOTE: interdependent motions about all pectoral girdle joints, for total of 3 df 3 abduction & adduction flexion & extension internal & external rotation NOTE: when arm is above shoulder height, there is also motion about pectoral girdle joints ulna humeroulnar 2 flexion & extension (modified hinge, s ynovial) ulnar abduction & adduction radius humeroradial same as humeroulnar for (pivotal, synovial) flexion & extension and same as superior radioulnar in supination & pronation superior radioulnar joint (pivotal, synovial) the 3 radioulnar joints provide intermediate radioulnar joint 1 for rotation of the radius about (interosseus membrane, the ulna in pronation & fibrous) supination inferior radioulnar joint (pivotal, synovial)
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ADVANCES IN PSYCHOLOGY 104 Editors:
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NORTH-HOLLAND ELSEVIER SCIENCE B.V.
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vi THE GRASPING HAND including comp
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viii THE GRASPING HAND Finally, all
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X THE GRASPING HAND 4.2 Task Plans
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xii THE GRASPING HAND Part I11 CONS
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xiv Figure 1.1 Figure 1.2 Figure 1.
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XVi THE GRASPING HAND Figure 6.12 F
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4 WHAT IS PREHENSION? The hand itse
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12 WHAT IS PREHENSION? prehensile b
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16 WHAT IS PREHENSION? (1988) refer
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22 WHAT IS PREHENSION? Schlesinger
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emphasis on Grasp emphasis on secur
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Figure 2.5 Prehensile postures cons
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Figure 2.7 Oppositions can be descr
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36 WHAT IS PREHENSION? Many posture
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40 WHAT IS PREHENSION? d Figure 2.9
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50 THE PHASES OF PREHENSION V cm/s
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- Computed activation of arm muscle
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- Velocity - Acceleration s-L 1400
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240 THE PHASES OF PREHENSION 6.3.2
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Table 6.6 Elliott & Connolly (1984)
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aie3 INTRINSIC - mughnesn aspect of
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Page 325 and 326: 306 CONSTRAINTS AND PHASES Table 8.
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Page 369 and 370: 350 Appendices Anterior (ventral):
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Page 379 and 380: 360 A pp e n dic e s Table A.2 Join
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Page 383 and 384: 364 A pp e n dices Table A.2 Joints
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Page 393 and 394: 374 Appendices features of the huma
Page 395 and 396: 376 Appendices fingers (Kamakura et
Page 397 and 398: 378 Appendices Table B.3 Postures c
Page 399 and 400: 380 Appendices opposition, is Napie
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Page 403 and 404: 384 A pp e n dic e s C.2 Artificial
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Page 419 and 420: 400 A pp e n dices of computations
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404 Appendices biceps, and shoulder
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406 Appendices Table D.l Commercial
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408 Appendices Table D.2 Commercial
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410 Appendices Sears et al., 1989).
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412 A ppe It dic e s are active, wh
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414 A ppen die es automatic lock wh
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416 A pp e n dices between the thum
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418 Appendices D.3.1 Stanford/JPL h
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420 A pp e n dices D.3.3 Belgrade/U
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424 THE GRASPING HAND Arbib, M.A. (
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426 THE GRASPING HAND Bullock, D.,
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428 THE GRASPING HAND Cutkosky, M.R
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430 THE GRASPING HAND Focillon, H.
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432 THE GRASPING HAND Gordon, A.M.,
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434 THE GRASPING HAND Hollerbach, J
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436 THE GRASPING HAND Jeannerod, M.
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438 THE GRASPING HAND Kamakura, N.,
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440 THE GRASPING HAND Landsmeer, J.
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442 THE GRASPING HAND MacKenzie, C.
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444 THE GRASPING HAND Moore, D.F. (
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446 THE GRASPING HAND Phillips, C.G
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448 THE GRASPING HAND Rumelhart, D.
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450 THE GRASPING HAND disconnection
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452 THE GRASPING HAND Weir, P.L. (1
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456 THE GRASPING HAND Childress, D.
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458 THE GRASPING HAND Johansson, R.
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460 THE GRASPING HAND Proteau, L.,
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464 THE GRASPING HAND level, of map
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466 THE GRASPING HAND a h Generaliz
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468 THE GRASPING HAND Forces. Force
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470 THE GRASPING HAND han& Robotics
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472 THE GRASPING HAND and force coo
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474 THE GRASPING HAND and task requ
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476 THE GRASPING HAND Pen, as grasp
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478 THE GRASPING HAND Screwdriver,
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480 THE GRASPING HAND and oppositio
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482 THE GRASPING HAND and grasping,
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Chapter 2. Prehension

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